Systems and methods for payload stabilization

ABSTRACT

Systems and methods are provided for supporting and articulating a payload using stabilization platform. The stabilization platform may be configured to avoid gimbal lock. The stabilization platform may be configured to automatically transition between different modes of orientation.

CROSS-REFERENCE

This application is a continuation application of InternationalApplication No. PCT/CN2014/083265, filed on Jul. 29, 2014, the contentof which is hereby incorporated by reference in its entirety.

BACKGROUND OF THE INVENTION

Payloads including sensors, cargo, passengers, and devices may requirestabilization and movement in three dimensions. For example, a cameramay require stabilization while shooting still photographs or video.Three dimensional articulation may be achieved using a multi-dimensionalgimbal. The multidimensional gimbal may be supported by a frame.

Multidimensional gimbals may be susceptible to gimbal lock. This maycause deterioration in control of the gimbal system and reducereliability of control of a payload.

SUMMARY OF THE INVENTION

Multidimensional gimbal systems may be used to stabilize a payload in acoordinate system. Multidimensional gimbal systems may encountersituations wherein one or more axes are rotated such that they overlap,the overlap may result in a condition known as gimbal lock. Gimbal lockmay deteriorate control of the gimbal system. A need exists to stabilizea payload in a multidimensional gimbal system while avoiding gimballock. Additionally it may be desirable to change the orientation of theframe holding a payload without causing a significant disturbance in thepayload orientation. Furthermore it may be advantageous to stabilize thepayload in a system that may achieve multiple configurations such thatthe stabilization system may be able to have a compact or spread outgeometry.

An aspect of the invention is directed to a stabilizing platformconfigured to stabilize a payload comprising: a frame assemblycomprising a plurality of frame components movable relative to oneanother, said frame assembly configured to support the payload; a handleassembly that supports the frame assembly and is configured to beswitchable between a first orientation and a second orientationindependently of an orientation of the payload; and a plurality ofmotors configured to permit the frame components to move relative to oneanother, said plurality of motors including (1) a first motor that isconfigured to (a) control movement of the payload about a yaw axis whenthe handle assembly is in the first orientation, and (b) controlmovement of payload about a roll axis when the handle assembly is in thesecond orientation, and (2) a second motor that is configured to (a)control movement of the payload about the roll axis when the handleassembly is in the first orientation, and (b) control movement of thepayload about the yaw axis when the handle assembly is in the secondorientation.

The payload may be a camera.

In some embodiments, the handle assembly comprises a handle barconnecting two grips, and the frame assembly is supported on the handlebar. The handle bar may have (i) a substantially horizontal orientationwhen the handle assembly is in the first orientation, and (ii) asubstantially vertical orientation when the handle assembly is in thesecond orientation. The handle assembly may be configured to be manuallyheld by a user at one or more of the grips. The handle assembly mayfurther comprise a third grip extending from the handle bar between thetwo grips.

The plurality of motors may further comprise (3) a third motor that isconfigured to control movement of the payload about a pitch axis whenthe handle assembly is in the first orientation and when the handleassembly is in the second orientation.

The frame assembly may comprise at least three frame components that aremovable relative to one another. The at least three frame components maycomprise a first frame component that supports the payload and permitsthe payload to rotate about a pitch axis relative to the first framecomponent. The at least three frame components may comprise a secondframe component that supports the first frame component and permits thefirst frame component to rotate about (i) a roll axis when the handleassembly is in the first orientation, and (ii) a yaw axis when thehandle assembly is in the second orientation. The at least three framecomponents may comprise a third frame component that supports the secondframe component and permits the second frame component to rotate about(i) a yaw axis when the handle assembly is in the first orientation, and(ii) a roll axis when the handle assembly is in the second orientation.

A method of stabilizing a payload in accordance with an embodiment ofthe invention, said method comprising: providing the stabilizingplatform as previously described; and detecting a switch from the firstorientation to the second orientation of the handle assembly, or viceversa.

The handle assembly may be switched between the first orientation andthe second orientation without altering a power state of the frameassembly. The plurality of motors may remain powered on while the handleassembly is switched between the first orientation and the secondorientation.

The switch may be detected with aid of one or more sensors on the handleassembly, frame assembly, payload, or motors. The one or more sensorsmay comprise inertial sensors or Hall effect sensors. The stabilizingplatform may comprise one or more processors configured to accept one ormore signals from the one or more sensors and generate a signalindicative that the switch has occurred based on the one or moresignals.

Additional aspects of the invention may be directed to a method ofstabilizing a payload, said method comprising: providing a frameassembly comprising a plurality of frame components movable relative toone another, said frame assembly configured to support the payload;supporting the frame assembly using a handle assembly, wherein saidhandle assembly is configured to be switchable between a firstorientation and a second orientation independently of an orientation ofthe payload; providing a plurality of motors configured to permit theframe components to move relative to one another, said plurality ofmotors including (1) a first motor controlling movement of a payloadabout a first axis when the handle assembly is in the first orientation,and (2) a second motor controlling movement of a payload about a secondaxis when the handle assembly is in the first orientation; detecting aswitches from the first orientation to the second orientation of thehandle assembly; and generating, with aid of one or more processors andin response to the detected switch of the handle assembly from the firstorientation to the second orientation, a control signal that causes (1)the first motor to control movement of the payload about the second axiswhen the handle assembly is in the second orientation, and (2) thesecond motor to control movement of the payload about the first axiswhen the handle assembly is in the second orientation.

In some embodiments, the first axis may be a yaw axis. The second axismay be a roll axis.

The handle assembly may be switched between the first orientation andthe second orientation without altering a power state of the frameassembly. The plurality of motors may remain powered on while the handleassembly is switched between the first orientation and the secondorientation.

The payload may be a camera.

The handle assembly may comprise a handle bar connecting two grips, andthe frame assembly is supported on the handle bar. The handle bar mayhave (i) a substantially horizontal orientation when the handle assemblyis in the first orientation, and (ii) a substantially verticalorientation when the handle assembly is in the second orientation. Thehandle assembly may be configured to be manually held by a user at oneor more of the grips. The handle assembly may further comprise a thirdgrip extending from the handle bar between the two grips.

The plurality of motors may further comprise (3) a third motor that isconfigured to control movement of the payload about a pitch axis whenthe handle assembly is in the first orientation and when the handleassembly is in the second orientation.

The frame assembly may comprise at least three frame components that aremovable relative to one another. The at least three frame components maycomprise a first frame component that supports the payload and permitsthe payload to rotate about a pitch axis relative to the first framecomponent.

The switch may be detected with aid of one or more sensors on the handleassembly, frame assembly, payload, or motors. The one or more sensorsmay comprise inertial sensors or Hall effect sensors. The stabilizingplatform may comprise one or more processors configured to accept one ormore signals from the one or more sensors and generate a signalindicative that the switch has occurred based on the one or moresignals.

A stabilizing platform configured to stabilize a payload may be providedin accordance with another aspect of the invention. The stabilizationplatform may comprise: a frame assembly comprising a plurality of framecomponents movable relative to one another, said frame assemblyconfigured to support the payload; a handle assembly that supports theframe assembly and is configured to be switchable between a firstorientation and a second orientation independently of an orientation ofthe payload; and a plurality of motors configured to permit the framecomponents to move relative to one another, said plurality of motorsincluding a motor that is configured to rotate by a predetermined numberof degrees when the handle assembly changes from the first orientationto the second orientation in response to a signal generated based on adetection of the handle assembly changing from the first orientation tothe second orientation.

The motor may be configured to (a) control movement of the payload abouta yaw axis when the handle assembly is in the first orientation, and (b)control movement of payload about a roll axis when the handle assemblyis in the second orientation. The payload may be a camera.

The handle assembly may comprise a handle bar connecting two grips, andthe frame assembly is supported on the handle bar. The handle bar mayhave (i) a substantially horizontal orientation when the handle assemblyis in the first orientation, and (ii) a substantially verticalorientation when the handle assembly is in the second orientation. Thehandle assembly may be configured to be manually held by a user at oneor more of the grips. The handle assembly may further comprise a thirdgrip extending from the handle bar between the two grips.

A frame component driven by the motor may be substantially perpendicularto the handle bar when the handle assembly is in the first orientation,and wherein the frame component driven by the motor may be substantiallyparallel to the handle bar when the handle assembly is in the secondorientation. The predetermined number of degrees may be 90 degrees.

The stabilizing platform may further comprise one or more processorsconfigured to detect when the handle assembly switches from the firstorientation to the second orientation and generate the signal to effectthe rotation of the motor.

The plurality of motor may further comprise a second motor that isconfigured to (a) control movement of the payload about the roll axiswhen the handle assembly is in the first orientation, and (b) controlmovement of the payload about the yaw axis when the handle assembly isin the second orientation. The plurality of motors may further comprise(3) a third motor that is configured to control movement of the payloadabout a pitch axis when the handle assembly is in the first orientationand when the handle assembly is in the second orientation.

In some embodiments, the frame assembly may comprise at least threeframe components that are movable relative to one another. The at leastthree frame components may comprise a first frame component thatsupports the payload and permits the payload to rotate about a pitchaxis relative to the first frame component. The at least three framecomponents may comprise a second frame component that supports the firstframe component and permits the first frame component to rotate about(i) a roll axis when the handle assembly is in the first orientation,and (ii) a yaw axis when the handle assembly is in the secondorientation. The at least three frame components may comprise a thirdframe component that supports the second frame component and permits thesecond frame component to rotate about (i) a yaw axis when the handleassembly is in the first orientation, and (ii) a roll axis when thehandle assembly is in the second orientation.

In some instances, a method of stabilizing a payload may be provided,said method comprising: providing the stabilizing platform as previouslydescribed; detecting when the handle assembly is switched between thefirst orientation and the second orientation; and rotating the motor bythe predetermined number of degrees.

The handle assembly may be switched between the first orientation andthe second orientation without altering a power state of the frameassembly. The plurality of motors may remain powered on while the handleassembly is switched between the first orientation and the secondorientation.

Furthermore, aspects of the invention may be directed to a stabilizingplatform configured to stabilize a payload comprising: a frame assemblycomprising a plurality of frame components movable relative to oneanother, said frame assembly configured to support the payload; a handleassembly that supports the frame assembly and is configured to beswitchable between a first orientation and a second orientationindependently of an orientation of the payload, wherein the handleassembly comprises a handle bar connecting two grips, wherein the frameassembly is supported on the handle bar, and wherein the handle bar has(i) a substantially horizontal orientation when the handle assembly isin the first orientation, and (ii) a substantially vertical orientationwhen the handle assembly is in the second orientation; and a pluralityof motors configured to permit the frame components to move relative toone another to keep the orientation of the payload independent of themovement of the handle assembly.

The stabilizing platform may have a greater width when the handleassembly is in the first orientation than when the handle assembly is inthe second orientation. The payload may be located laterally between thetwo grips when the handle assembly is in the first orientation. Thepayload may be located at a greater height than the two grips. Thepayload may be located at a lesser height than the two grips. Thepayload may be located at a height between the two grips when the handleassembly is in the second orientation. The payload may be laterallyaligned with the two grips.

Optionally, the center of mass of a combination of the payload and theframe assembly may be beneath the handle bar when the handle assembly isin the first orientation. The center of mass of a combination of thepayload and the frame assembly may be above the handle bar when thehandle assembly is in the first orientation. The center of mass of acombination of the payload and the frame assembly may be between the twogrips when the handle assembly is in the second orientation.

The plurality of motors may comprise a first motor that is configured to(a) control movement of the payload about a yaw axis when the handleassembly is in the first orientation, and (b) control movement ofpayload about a roll axis when the handle assembly is in the secondorientation. The plurality of motors may comprise a second motor that isconfigured to (a) control movement of the payload about the roll axiswhen the handle assembly is in the first orientation, and (b) controlmovement of the payload about the yaw axis when the handle assembly isin the second orientation. The first motor may be configured to rotateby a predetermined number of degrees when the handle assembly changesfrom the first orientation to the second orientation.

The handle assembly may further comprise a third grip extending from thehandle bar between the two grips. The third grip may be alignedsubstantially perpendicularly to the two grips. The payload may be acamera.

Aspects of the invention may include a stabilizing platform configuredto stabilize a payload comprising: a frame assembly comprising aplurality of frame components movable relative to one another, saidframe assembly configured to support the payload; a handle assembly thatsupports the frame assembly and is configured to be switchable between afirst orientation and a second orientation independently of anorientation of the payload; at least one sensor that provides datauseful for determining whether the handle assembly has switched betweenthe first orientation and the second orientation; and a plurality ofmotors configured to permit the frame components to move relative to oneanother to keep the orientation of the payload independent of themovement of the handle assembly.

In some embodiments, the at least one sensor is an inertial sensor. Theat least one sensor may be a Hall effect sensor. At least three Halleffect sensors may be attached to at least three motors of saidplurality of motors. The at least three motors may be configured torotate the payload about a yaw axis, roll axis, and pitch axis. Thestabilizing platform may further comprise one or more processorsconfigured to calculate rotation of the handle assembly by calculating aquaternion difference. The at least one sensor may be located on thehandle assembly. The at least one sensor may be located on the frameassembly. The at least one sensor may be provided with the plurality ofmotors. The at least one sensor may comprise at least three sensorsconfigured to detect orientation relative to three axes. The at leastone sensor may comprise a pan-tilt-zoom inertial measurement unit.

The handle assembly may comprise a handle bar connecting two grips,wherein the frame assembly is supported on the handle bar. The handlebar may have (i) a substantially horizontal orientation when the handleassembly is in the first orientation, and (ii) a substantially verticalorientation when the handle assembly is in the second orientation.

The stabilizing platform may further comprise one or more processorsconfigured to detect when the handle assembly switches between the firstorientation and the second orientation based on the signal from the atleast one sensor. The one or more processors may be configured togenerate a signal to at least one motor of said plurality to rotate by apredetermined number of degrees when detection occurs that the handleassembly has switched between the first orientation and the secondorientation. The handle assembly may be determined to have switchedbetween the first orientation and the second orientation when athreshold number of degrees of change in orientation is exceeded.

The plurality of motors may include (1) a first motor that is configuredto (a) control movement of the payload about a yaw axis when the handleassembly is in the first orientation, and (b) control movement ofpayload about a roll axis when the handle assembly is in the secondorientation, and (2) a second motor that is configured to (a) controlmovement of the payload about the roll axis when the handle assembly isin the first orientation, and (b) control movement of the payload aboutthe yaw axis when the handle assembly is in the second orientation.

The payload may be a camera.

The handle assembly may comprise a handle bar connecting two grips, andthe frame assembly may be supported on the handle bar. The handle barmay have (i) a substantially horizontal orientation when the handleassembly is in the first orientation, and (ii) a substantially verticalorientation when the handle assembly is in the second orientation. Thehandle assembly may be configured to be manually held by a user at oneor more of the grips. The handle assembly may further comprise a thirdgrip extending from the handle bar between the two grips.

The plurality of motors may comprise a first motor that is configured to(a) control movement of the payload about a yaw axis when the handleassembly is in the first orientation, and (b) control movement ofpayload about a roll axis when the handle assembly is in the secondorientation. The plurality of motors may comprise a second motor that isconfigured to (a) control movement of the payload about the roll axiswhen the handle assembly is in the first orientation, and (b) controlmovement of the payload about the yaw axis when the handle assembly isin the second orientation. The plurality of motors may further comprisea third motor that is configured to control movement of the payloadabout a pitch axis when the handle assembly is in the first orientationand when the handle assembly is in the second orientation.

The frame assembly may comprise at least three frame components that aremovable relative to one another.

Other objects and features of the present invention will become apparentby a review of the specification, claims, and appended figures.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present invention will be obtained by reference to thefollowing detailed description that sets forth illustrative embodiments,in which the principles of the invention are utilized, and theaccompanying drawings of which:

FIG. 1 shows a schematic of a stabilization platform including a frameassembly, handles, and a payload.

FIG. 2 shows an example of a handle assembly of a stabilizationplatform.

FIG. 3 shows a detailed view of an example of a stabilization platformin a horizontal configuration.

FIG. 4 a-c shows schematics of three possible stabilization platformconfiguration modes.

FIG. 5 shows the possible axes of rotation of the payload by thestabilization platform.

FIG. 6 shows an example of a gimbal lock condition

FIG. 7 shows possible steps performed by a processor in response to achange in frame orientation.

FIG. 8 shows possible steps performed by a processor to alter motorcontrol and orientation.

FIG. 9 shows a stabilization platform with a handle assemblytransitioning from a horizontal to a vertical orientation.

FIG. 10 shows a stabilization platform with a handle assembly furthertransitioning from a horizontal to a vertical orientation.

FIG. 11 a-b shows a stabilization platform in a vertical orientation.

FIG. 12 shows an example of a stabilization platform with a camera asthe payload.

FIG. 13 a-b shows examples of stabilization systems mounted on vehicles(e.g. a car and an unmanned aerial vehicle (UAV)).

FIG. 14 illustrates a movable object including a carrier and a payload,in accordance with an embodiment of the invention.

FIG. 15 is a schematic illustration by way of block diagram of a systemfor controlling a movable object, in accordance with an embodiment ofthe invention.

FIG. 16 shows an example of a landing process for a multi-zone batterystation in accordance with an embodiment of the invention.

FIG. 17 shows an example of a remote device that may be used to controlan aspect or setting of a stabilization platform in accordance with anembodiment of the invention.

FIG. 18 shows a schematic of stabilization platform including one ormore sensors and one or more processors communicatively coupled to theone or more sensors in accordance with an embodiment of the invention.

DETAILED DESCRIPTION OF THE INVENTION

The systems, devices, and methods of the present invention provide amulti axis stabilization platform. Description of the multi axisstabilization platform may be applied to any other type of multi-axisstabilization frame, or any other multidimensional gimbal system.Description of the multi axis stabilization platform may apply toland-bound, underground, underwater, water surface, aerial, orspace-based multi axis stabilization platforms. The stabilizationplatform may be a handheld platform or may be mounted on any stationaryor movable object.

A stabilization platform may include a frame assembly, a handleassembly, and a plurality of motors. The frame assembly may have framecomponents configured to move relative to each other. The rotation ofthe frame components may be performed using one or more motors. Eachmotor may rotate a frame component about an axis. A payload may becarried by the frame. Movement of the frame components may result in amovement of the payload. In an example the payload may be a camera. Thecamera may be moved to follow an object of interest while shooting videoof still photographs of an object. Movement of the camera may beperformed using the frame components.

The frame components may be configured to attach to a handle barassembly. The handle bar assembly may be held by a user in their handsor attached to a device which may carry the stabilization platform. Thehandle bar assembly may be moved relative to the payload without causingmovement of the payload. For instance, a reference frame, such as anenvironment may be provided. The handle bar assembly may be movedrelative to the reference frame while the payload may remain stationaryor at a fixed orientation relative to the reference frame.

The handle bar assembly may be moved such that the stabilizationplatform may have a more or less compact geometry. The handle barassembly may be moved such that the stabilization platform may be heldwith one or two hands or attachments. The handle bar assembly may bemoved such that the center of mass of the stabilization platformincluding the payload is located above, below, or collinear with thehandle bar assembly. Movement of the handle bar assembly may beconcurrent with a change in motor control and orientation. In anexample, the handle bar assembly may move from a mostly horizontalposition to a mostly vertical position. Concurrent with the change inhandle bar orientation, one or more motors may rotate a fixed number ofdegrees. Additionally the control of the motors may change, for example,the axis of rotation controlled by at least one of the motors maychange.

The stabilization platform may include sensors. The sensors mayrecognize movement of the handle bar assembly. The sensors may beattached to the handle bar assembly, frame components, and or motors.The sensors may communicate information to a processor on board or offboard the stabilization unit. The processor may use the information fromthe sensors to detect a change in handle bar orientation and cause asubsequent change in the orientation and/or control of at least one ofthe motors on the stabilization platform.

FIG. 1 shows a high level schematic of a stabilizing platform 101 inaccordance with an embodiment of the invention. The stabilizing platform101 may be configured to stabilize a payload 102. The payload 102 may besupported by a frame assembly 103, which may be carried by handleassembly 104. The payload may be, for example, a camera, a sensor, apassenger, or cargo.

The payload 102 may be secured in a frame assembly 103. The frameassembly 103 may be formed from a metallic, composite, or plasticmaterial. The frame assembly may be configured to support a payload witha weight of at least 1 mg, 5 mg, 10 mg, 50 mg, 100 mg, 500 mg, 1 g, 2 g,3 g, 5 g, 7 g, 10 g, 12 g, 15 g, 20 g, 25 g, 30 g, 35 g, 40 g, 45 g, 50g, 60 g, 70 g, 80 g, 90 g, 100 g, 120 g, 150 g, 200 g, 250 g, 300 g, 350g, 400 g, 450 g, 500 g, 600 g, 700 g, 800 g, 900 g, 1 kg, 1.1 kg, 1.2kg, 1.3 kg, 1.4 kg, 1.5 kg, 1.7 kg, 2 kg, 2.2 kg, 2.5 kg, 3 kg, 3.5 kg,4 kg, 4.5 kg, 5 kg, 5.5 kg, 6 kg, 6.5 kg, 7 kg, 7.5 kg, 8 kg, 8.5 kg, 9kg, 9.5 kg, 10 kg, 11 kg, 12 kg, 13 kg, 14 kg, 15 kg, 17 kg, 20 kg, 30kg, 40 kg, 50 kg, 60 kg, 70 kg, 80 kg, 90 kg, or 100 kg. The frameassembly 103 may be configured to support a payload with a weight ofless than any of the values provided herein. The frame assembly 103 maybe configured to support a payload with a weight falling in a rangebetween any two of the values provided herein.

Furthermore the frame assembly 103 may be configured to support apayload with a longest dimension of at least 1 mm, 5 mm, 1 cm, 3 cm, 5cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, 50cm, 55 cm, 60 cm, 65 cm, 70 cm, 75 cm, 80 cm, 85 cm, 90 cm, 95 cm, 100cm, 110 cm, 120 cm, 130 cm, 140 cm, 150 cm, 160 cm, 170 cm, 180 cm, 190cm, 200 cm, 220 cm, 250 cm, 300 cm, 350 cm, 400 cm, 450 cm, or 500 cm.The frame assembly 103 may be configured to support a payload with alongest dimension of less than any of the values provided herein. Theframe assembly may be configured to support a payload with a longestdimension falling in a range between any two of the values providedherein.

The frame assembly 103 may be configured to support a payload with avolume of at least 1 mm³, 5 mm³, 1 cm³, 3 cm³, 5 cm³, 10 cm³, 12 cm³, 15cm³, 20 cm³, 25 cm³, 30 cm³, 35 cm³, 40 cm³, 45 cm³, 50 cm³, 55 cm³, 60cm³, 65 cm³, 70 cm³, 75 cm³, 80 cm³, 85 cm³, 90 cm³, 95 cm³, 100 cm³,110 cm³, 120 cm³, 130 cm³, 140 cm³, 150 cm³, 160 cm³, 170 cm³, 180 cm³,190 cm³, 200 cm³, 220 cm³, 250 cm³, 300 cm³, 350 cm³, 400 cm³, 450 cm³,or 500 cm³. The frame assembly 103 may be configured to support apayload with a volume less than any of the values provided herein. Theframe assembly may be configured to support a payload with a volumefalling in a range between any two of the values provided herein.

A payload may be a sensor. For example, a payload may be an audio,vision, olfactory, positioning, temperature, or motion sensor. In anexample the payload may be a camera. Examples of payloads may furthercomprise: location sensors (e.g., global positioning system (GPS)sensors, mobile device transmitters enabling location triangulation),vision sensors (e.g., imaging devices capable of detecting visible,infrared, or ultraviolet light, such as cameras), proximity sensors(e.g., ultrasonic sensors, lidar, time-of-flight cameras), inertialsensors (e.g., accelerometers, gyroscopes, inertial measurement units(IMUs)), altitude sensors, pressure sensors (e.g., barometers), audiosensors (e.g., microphones) or field sensors (e.g., magnetometers,electromagnetic sensors). Any suitable number and combination of sensorscan be used or provided as a payload, such as one, two, three, four,five, or more sensors. Optionally, the data can be received from sensorsof different types (e.g., two, three, four, five, or more types).Sensors of different types may measure different types of signals orinformation (e.g., position, orientation, velocity, acceleration,proximity, pressure, etc.) and/or utilize different types of measurementtechniques to obtain data. For instance, the sensors may include anysuitable combination of active sensors (e.g., sensors that generate andmeasure energy from their own source) and passive sensors (e.g., sensorsthat detect available energy). In other embodiments, payloads mayinclude emitters, such as visual, sound, or other signal emitters. Forinstance, an emitter may be a light source. The payload may be orientedin the stabilization platform such that it is directed at an object orregion of interest.

In an example the stabilization platform may have a camera as thepayload. The camera may be a film or digital camera. The camera may beable to capture video recordings or still photographs. The camera may bea micro lens camera, a point and shoot camera, a mobile phone camera, aprofessional video camera, or a camcorder. The stabilization platformmay be configured to achieve a desired camera angle with a precision ofat least ±5°, ±4°, ±3°, ±2°, ±1°, ±0.75°, ±0.5°, ±0.4°, ±0.3°, ±0.2°,±0.1°, ±0.08°, ±0.06°, ±0.04°, ±0.02°, ±0.01°, or ±0.005 °.

The orientation of the payload may be controlled by the processor onboard the stabilization unit in response to movement of the handleassembly 104 by a user. The processor may be programmed to calculate apayload orientation and/or generate a signal to effect the desiredpayload orientation. The processor may receive signals from one or moresensors indicative of handle assembly orientation and/or movement andmay generate signals to effect actuation of one or more motors to effectthe desire payload orientation. Any description herein of a processormay apply to one or more processors that may individually orcollectively perform any of the actions described.

The processor may be able to automatically calculate and/or determine adesire payload orientation autonomously without requiring additionalinput from an external device or user. In some instances, the desiredpayload orientation may remain substantially constant with respect to areference frame. Alternatively, the desired payload orientation maychange with respect to the reference frame. In other embodiments, thedesired payload orientation may be calculated and/or determined based ona signal received from an external device, such as a remote control.Similarly, the desired payload orientation may be calculated and/ordetermined based on a signal received from a user input interface of thehandle assembly. For example, the operator of the stabilization platformor another individual operating an external device or remote control mayprovide input regarding the orientation of the payload with respect tothe reference frame.

Additionally, when the payload is a camera, the camera settings may becontrolled by another user by a remote control or user input componentsbuilt into the stabilization platform. Examples of camera settings maybe white balance, aperture size, shutter speed, focal length, zoom, orISO sensitivity.

The frame assembly 103 may have a plurality of frame components. Theframe components may be rigid parts. The components may be configured tomove relative to each other. The movement of the components may be abouta joint for example the joint may be a hinge, ball and socket, planejoint, saddle, or pivot. Movement of the frame components may becontrolled by one or more motors. Optionally, one or more motors may beprovided at the joints between the components. Each frame component maybe moved by one motor or a plurality of frame components may be moved bya single motor. Frame components may be rotated about an axis. Eachcomponent may rotate about one, two, three, or more axes. The axis ofrotation may be defined in a fixed or non-fixed reference frame.Additionally the frame components may be configured to translate in atleast one direction. The joints may further comprise Hall sensors whichmay detect the position, and/or rotation of the frame componentsrelative to each other at each joint location.

The frame assembly may permit a payload to rotate about one, two, threeor more axes relative to a handle assembly. In some instances the handleassembly may be rotating about one, two, or three axes relative to areference frame. The payload may or may not remain at the sameorientation with respect to the reference frame while the handleassembly may move. Optionally, one, two, three or more motors may beprovided that may permit the payload to rotate with respect to thehandle assembly. The payload may rotate about three orthogonal axes withrespect to the handle assembly. In some instances, the payload mayrotate about a pitch, roll, and/or yaw axis with respect to the payload.

The frame assembly may be supported by a handle assembly 104. The handleassembly 104 may bear the weight of the frame assembly. The handleassembly may be located at a terminal end of the frame assembly. Thehandle assembly may include one or more grips that may be configured tomove relative to each other to change between various configurations.The movement of the handle assembly (e.g., the grips) may be independentof the movement of the payload.

An example of a handle assembly 201 is shown in FIG. 2. The handleassembly may include a handle bar 204 connecting two grips 202. The twogrips may be substantially parallel to each other and perpendicular orparallel to the handle bar. In some embodiments, the grips may be withinabout plus or minus 30, 25, 20, 15, 10, 5, 3, or 1 degree of beingparallel to one another. In some embodiments, the grips may be withinabout plus or minus 30, 25, 20, 15, 10, 5, 3, or 1 degree of beingperpendicular to the handle bar. In some instances, an end of a grip mayjoin the handle bar. Alternatively, an end of a grip may extend beyondthe handle bar. The handle assembly may be configured to be manuallyheld by a user at the grips 202. The frame assembly may be supported onthe handle bar.

Additionally, the handle bar may have a third grip 203 between the twoconnected grips. The third grip may be connected to a handle bardirectly or may be connected with aid of a bar 205. The third grip maybe substantially perpendicular or parallel to the other two grips oneither terminal end of the handle bar. Optionally, the third grip may besubstantially perpendicular to both the other grips and/or the handlebar simultaneously. The third grip and/or bar may be directly and/orfixedly attached to the handle bar 204. Alternatively, the third gripand/or bar may be removable from the handle bar. The third grip and/orbar may or may not attach to or be connected to a frame assembly.

The frame assembly may be supported by the handle assembly. The handles(which may be grips) may be configured to be held by a person's hands.The grips may have a textured surface that may prevent a user's handsfrom slipping while holding the handles. The grips may include acovering material. In some instances, the covering material may includeplastic, foam, rubber, or other semi soft or malleable material.Additionally, the handles may have an ergonomic design such that a usermay hold the handle for an extended period of time without experiencingwrist or joint pain.

The stabilization platform may be carried by a human. The handleassembly may be configured to permit a human to carry the stabilizationplatform by holding one or more grips in the human's hands. Anindividual may hold two grips simultaneously, or may hold a single grip.The individual may hold one or more of the terminal grips or the thirdgrip. In another example, the handle assembly may be configured toattach to another object, such as a vehicle. A vehicle may be a car,truck, aircraft, unmanned aerial vehicle (UAV), bus, boat, train,motorcycle, bicycle, moving platform, or a tractor. The handle assemblymay be configured to attach to a movable object, such as those describedelsewhere herein. The handle assembly may also be configured to attachto a stationary object. The handle assembly may attach to a boom whichmay be mounted on a fixed or movable object.

Components of the frame assembly may be moved relative to each other bymotors connected to the frame assembly. FIG. 3 shows a detailed view ofthe stabilizing platform including a first 301, second 302 (not directlyshown in FIG. 3), and third motor 303. In some embodiments thestabilizing platform may have at least 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10motors configured to move the frame assembly components 304, 305, 306relative to each other. Alternatively the frame assembly components maybe moved manually in a design without motors.

The frame assembly may have at least one, two, or three frame components304, 305, and 306. The three components may each be configured to rotatethe payload along a given axis of rotation. For example, the framecomponent 304 may rotate in about a yaw axis, the frame component 305may rotate about a roll axis, and the frame component 306 may rotateabout a pitch axis. Any of the components may be configured to rotateabout an additional axis. The components may additionally be configuredto translate in at least one dimension.

In some embodiments, a first frame component 304 may be directlysupported by a handle assembly. The first frame component 304 may beconfigured to move about a first axis of rotation (e.g., yaw axis) whenthe handle assembly is in a first orientation. The movement of the firstframe component 304 about the first axis of rotation may be drivenand/or controlled by a first motor 301. A second frame component 305,may be directly supported by the first frame component. The second framecomponent 305 may be configured to move about a second axis of rotation(e.g., roll axis) when the handle assembly is in a first orientation.The movement of the second frame component 305 about the second axis ofrotation may be driven and/or controlled by a second motor 302. A thirdframe component 306, may be directly supported by the second framecomponent 305. The third frame component 306 may be configured to moveabout a third axis of rotation (e.g., pitch axis) when the handleassembly is in a first orientation. The movement of the third framecomponent 306 about the third axis of rotation may be driven and/orcontrolled by a third motor 303. The third frame component 306 may beconfigured to support a payload 308, such as a camera. The third framecomponent may be configured to support the payload in a fixed manner(e.g., the payload not moving relative to the third component).Alternatively, the payload may be movable relative to the thirdcomponent.

The frame components may be substantially rigid. The frame componentsmay have any shape. The frame components may include one or morestraight or curved pieces that may be connected to one another. In someexample, the frame components may include a substantially Y shape or Ushape. The frame components may include a first bar connected to asecond bar in a substantially orthogonal manner, and the second bar maybe connected to the third bar in a substantially orthogonal manner. Thefirst and third bar may or may not be substantially parallel.

The stabilizing platform may include a handle assembly that may includeone or more grips 307. A user may hold the grips and may change to theorientation of the handle assembly. The payload 308 may remainstabilized while the handle assembly may change orientation. The framecomponents 304, 305, 306 may move relative to one another and/or thehandle assembly in order to keep the payload stabilized while the handleassembly may change orientation. The motors 301, 302, 303 may beactuated to permit and/or cause the frame components to move relative toone another. Stabilizing the payload may include keeping the payload atthe same orientation or changing the orientation in a controlled manner.Stabilizing the payload may include keeping the payload at the sametranslational position or changing the translational position of thepayload in a controlled manner. Changing the orientation and/ortranslational position of the payload may occur in a smooth manner(e.g., with reduced jerkiness or shaking) This may be advantageous whenthe payload is a camera and it is desirable to collect a substantiallystabilized image.

Components of a stabilization platform may move relative to each otherto achieve three distinct configurations. A first possible configurationis shown in FIG. 4 a. The configuration shown in FIG. 4 a illustrates anunderslung mode. In the underslung mode, a payload 401 may be locatedbetween two grips 402. The payload 401 may be located laterally betweentwo grips. The payload 401 may be beneath the two grips based on height.A user may choose to hold the stabilization platform with two hands inunderslung mode. For instance, a user may grasp each of the two gripsthat may be connected by a handle bar 403. The handle bar may beoriented horizontally when in the underslung mode. In the underslungmode, the center of mass of the combination of a frame assembly and thepayload may be below the handle bar and/or grips. The center of mass ofthe payload may be below the handle bar and/or grips. The center of massof the payload, or the combination of the payload and the frameassembly, may be laterally between the grips. Underslung mode may orientthe payload to face objects or regions below the hand height of theuser.

In another configuration, shown in FIG. 4 b, the stabilization platformis arranged in an upright mode. In upright mode the payload 405 may beoriented above one or more handles and/or handle bar 404. The user maychoose to hold the frame with two hands in upright mode. The center ofmass of the combination of the frame and the payload 405 may be locatedabove the frame in the upright mode. The center of mass of the payloadmay be above the handle bar and/or grips. The center of mass of thepayload, or the combination of the payload and the frame assembly may belaterally between the grips. The frame assembly and/or the payload maybe located laterally between the grips. Upright mode may orient thepayload to face objects or regions above the hand height, or at eyelevel of the user.

A third configuration of the stabilizing platform is shown in FIG. 4 c.The configuration shown in FIG. 4 c may be referred to as the briefcasemode. A user may hold the stabilizing platform with one hand while theplatform is in briefcase mode. For example, a user may grasp an upperhandle 406 of a handle assembly when the stabilizing platform is inbriefcase mode. A handle bar 407 connecting two grips may be in asubstantially vertical orientation. The frame assembly and/or payloadmay be located between the two grips. The height of the frame assemblyand/or the payload may be between the heights of the two grips.Laterally, the two grips and the frame assembly and/or the payload maybe substantially aligned. For instance, an axis may pass through the twogrips and the frame assembly and/or payload. The center of mass of thecombination of the frame and the payload, or of the payload alone, maybe between two hand grips, when the stabilizing platform is in briefcasemode. The height of the center of mass of the frame assembly and thepayload (or of the payload alone) may be between the heights of the twogrips. Laterally, the two grips and the center of mass of the frameassembly and/or the payload may be substantially aligned. For instance,an axis may pass through the two grips and the center of mass of theframe assembly and/or payload.

The stabilizing platform may move between any of the configurationsdescribed herein. For example, the stabilizing platform may move betweenan underslung, upright, and/or briefcase mode. Any of the intermediaryconfigurations between the modes may continue to stabilize a payload.For example, any intermediary configurations may be provided where ahandle bar is neither horizontal nor vertical. An operator of thestabilizing platform may or may not hold the stabilizing platform at anintermediary configuration, or may provide intermediary configurationswhile moving between different modes.

The stabilizing platform may have a greater width in the horizontalmodes (e.g. underslung, upright) than in the vertical modes (e.g.briefcase). The vertical modes may allow for a more compact geometrycompared to the horizontal modes. The vertical modes may provide astabilization mode with a lesser width, a smaller footprint, and/orsmaller lateral area than the horizontal modes. In an example where thepayload is a sensor, the vertical modes may be preferable for sensing anobject or a region in a narrow space. Upright mode may similarly bepreferable for sensing regions or objects above the height of the user.Upright mode may allow the payload to face objects or regions above aplane holding the stabilization platform.

The different modes may result from different orientations of the frameand handle assembly, altering the frame and handle assembly may notresult in a change in the payload orientation. The handle assembly maychange orientations independently of the payload orientation and viceversa. For example, when the handle and frame assembly changes between alargely horizontal (e.g. underslung of upright modes) mode to a largelyvertical mode (e.g. briefcase mode) the payload may remain in aconsistent orientation. In an example, the payload may stay in ahorizontal orientation during a change in the handle and frame assemblyfrom a horizontal to vertical orientation. Alternatively, the payloadmay stay in a vertical orientation during a change in the handle andframe assembly from a horizontal to vertical orientation. The motors maypermit the frame components to move relative to one another to the keepthe orientation of the payload independent of the movement of the handleassembly.

The stabilizing platform may comprise a three-axis gimbal assembly whichmay be configured to permit rotation of the payload about one, two, orthree axes. The payload may rotate around a yaw, roll, and/or pitchaxis. In some instances the payload may be capable of rotating about ayaw, roll, and pitch axis relative to a handle assembly. Optionally, thepayload may be capable of rotating about a yaw, roll, and pitch axisrelative to a fixed reference frame. FIG. 5 shows three possiblerotation axes for the payload. The axes shown in FIG. 5 are a yaw axis501, roll axis 502, and pitch axis 503. The axes may be defined in areference frame of the payload as shown in FIG. 5. In another example,the axes may be defined in a reference frame with respect to a handleassembly. The axes may be defined in a fixed reference frame, such as anenvironment where the stabilizing platform may be in operation (e.g.,such as Earth). The axes may or may not intersect. One, two, or three ofthe axes may pass through the payload. Two or three of the axes mayintersect within the payload. The intersection may or may not occur at acenter of mass of the payload. The intersection may or may not occur ata center of mass of a combination of the payload and the frame assembly.Alternatively, two or three of three of the axes may intersect outsidethe payload. The axes may be defined in a fixed or non-fixed referenceframe. The axes may be defined by a Cartesian, spherical, or cylindricalcoordinate system. The payload may rotate clock-wise orcounter-clockwise about the rotational axes shown in FIG. 5.

The rotation may be performed by a motor which may cause rotation of aframe component which may in turn rotate the payload in a fixedreference frame. Alternatively, a frame component may be rotated whilethe payload is kept stationary relative to a fixed reference frame. Ahandle assembly may move with respect to one or more of the axes whilethe payload may maintain the same orientation with respect to the fixedreference frame.

The motor may be an AC or DC motor. Any description herein of a motormay apply to any type of motor or other actuator. Motors may be directdrive motors. Other examples of types of motors may include, but are notlimited to brushed or brushless motors, servomotors, switched reluctancemotors, stepper motors, or any other types of motors.

The motor may be powered by an energy source, such as a battery system,on the stabilizing platform. Alternatively the motor may be powered by apower cord connected to an external power source. Each rotation axis maybe controlled by a motor. For instance, a first motor may effectrotation about a yaw axis, a second motors may effect rotation about aroll axis, and a third motor may effect rotation about a pitch axis. Inthe various configurations, modes, of operation the rotation axis of themotors may change. For example, in the modes where the stabilizationplatform is held by the user with two hands (e.g. the underslung andupright modes) a first motor may control the yaw axis rotation, a secondmotor may control the roll axis rotation, and a third motor may controlthe pitch axis rotation. Alternatively, in a mode where thestabilization platform is held by the user with one hand (e.g. briefcasemode) first motor may control the roll axis rotation, a second motor maycontrol the yaw axis rotation, and a third motor may control the pitchaxis rotation. Similarly, when a handle of assembly of a stabilizationplatform is at a first orientation, a first motor may control yaw axisrotation while a second motor may control roll axis rotation. When thehandle of assembly of the stabilization platform is at a secondorientation, the first motor may control roll axis rotation while thesecond motor may control yaw axis rotation. Optionally, a third motormay control pitch axis rotation when the handle bar assembly is in thefirst orientation and the second orientation. In some implementations,the first orientation may include a substantially horizontally orientedhandle bar while the second orientation may include a substantiallyvertically oriented handle bar. Power may be supplied to the motorscontinuously during a switch in mode of the stabilization platformorientation.

Rotation of a payload by a three axis gimbal may encounter gimbal lock.Gimbal lock may be a condition in which one of the three axes is rotatedto an extent such that it lines up with a second rotation axis. Gimballock may result in a deterioration of the control of the rotation of thepayload. An example of a gimbal lock scenario is shown in FIG. 6. In thecase shown in FIG. 6 a first orientation of the gimbal has axes 601,602, and 603 not overlapping such that gimbal lock is not encountered.In the second case shown in figure axis 601 has rotated such that itoverlaps with axis 603. This overlap represents an example of gimballock. When gimbal lock occurs, the system may lose a degree of freedom.It may be advantageous to avoid gimbal lock.

The stabilization platform may be configured to reduce or eliminateinstances of gimbal lock. The stabilization platform may comprise a setof sensors that may detect rotations of the payload that cause thegimbal to approach a gimbal lock condition. For example, as a rotationabout the yaw axis approaches 90° the gimbal may approach a gimbal lockcondition. A rotation about the yaw axis sufficient to induce gimballock may occur when switching between a first and second operation modeof the stabilization platform. The stabilization platform may havesensors on the frame, motors, and/or handles that may detect therotation of the stabilization platform about the yaw, roll, and pitchaxes. For example the sensors may be inertial sensors (e.g., positionalor angular displacement sensors, velocity sensors, accelerometers,gyroscopes, magnetometers), capacitive sensors, Hall sensors, or anyother types of sensors as described elsewhere herein. The sensors may becapable of detecting linear and/or angular displacement, linear velocityand/or angular velocity, or linear or angular acceleration. The sensorsmay or may not be provided on any portion of the handle assembly, suchas a grip, handle bar, bar, or any other portion. The sensors may or maynot be provided on one, two, three or more of the frame components. Thesensors may or may not be provided on one, two, three or more of themotors. The sensors may or may not be provided on the payload. Aprocessor onboard or off-board the stabilization platform may interpretthe sensor data to detect a rotation about a yaw, roll, or pitch axis.Sensor data from any component of the stabilizing platform may be usedto detect positional information and/or rotation of the component.Sensor data from multiple components may be gathered and/or compared. Insome instances, the sensor data from the components may be used todetermine motion of the payload relative to the handle assembly or viceversa, motion of the payload relative to a fixed reference frame, motionof the handle assembly relative to the fixed reference frame, motion ofany of the frame components relative to the fixed reference frame or anyvariation or combination thereof.

When a processor detects a rotation of the handle assembly indicating achange from a first mode/configuration, to a second mode/configurationthe processor may change the motor control orientation. For example in afirst mode a first motor may control the yaw axis rotation and a secondmotor may control the roll axis rotation. When the processor detects achange from a first to a second mode the processor may switch the motorcontrol such that a first motor may control the roll axis rotation and asecond motor may control the yaw axis rotation. In a first and secondmode, the pitch axis motor control may not change such that a thirdmotor may control the pitch axis rotation in both the first and secondmode. The change in motor control may occur without a change in thepower supply to the motor such that continuous power may be supplied tothe motor while the axis control of the motor is changed.

FIG. 18 shows a schematic of stabilization platform including one ormore sensors and one or more processors communicatively coupled to theone or more sensors in accordance with an embodiment of the invention.As previously described, a stabilization platform 1801 may support apayload 1802. The stabilization platform may include a frame assembly1803 and handle assembly 1804. One or more sensors 1805 a, 1805 b, 1806may be provided on the stabilization platform. In some instances, one ormore sensors 1805 a may be supported by a handle assembly 1804, one ormore sensors 1805 b may be supported by a frame assembly 1803, and/orone or more sensors 1805 c may be supported by a payload 1802. In someinstances, one or more motors 1806 may be provided on the stabilizationplatform. The motors may permit frame components of a frame assembly tomove relative to other frame components or relative to the handleassembly. The motor may have one or more sensors provided thereon, orbuilt into the motor. In some instances, the stabilization platform mayhave an on-board processor 1807 a. Alternatively, an off-board processor1807 b may be provided. Any combination of on-board and/or off-boardprocessors may be provided or utilized.

One or more processors 1807 a, 1807 b may receive signals from one ormore sensors 1805 a, 1805 b, 1805 c. The signals from the sensors may beused to detect orientation and/or movement of one or more components ofthe stabilization platform. For example, the signals from the sensorsmay be indicative of orientation and/or movement (e.g., angularvelocity, angular acceleration, linear velocity, linear acceleration) ofthe handle assembly, frame components, payload, motor, or any otherportion of the stabilization platform. The processor(s) may use thesignals to determine whether a handle assembly has changed orientation,or whether any other component has moved. Based on the determination,the processor(s) may generate a signal that may be transmitted to one ormore motors 1806. The generated signal may result in actuation and/ormaintenance of a motor. The generated signal may control motors in amanner to permit the payload to remain stabilized while other componentsof the stabilization platform may move. The generated signal may controlmotors in a manner to permit the payload to remain level or at the sameorientation while other components of the stabilization platform maymove.

FIG. 7 outlines a possible detection and response procedure of one ormore processors to a frame rotation. Initially, the stabilizationplatform may a first mode or second mode 701. In some instances a handlebar of the stabilization platform may have a horizontal orientation whenin the first mode and a vertical orientation when in the second mode.The processor may detect a change in the stabilization platform mode byinput from one or more sensors 702. For example, a change in thestabilization platform mode may be a rotation of the handle bar assemblyfrom a horizontal to a vertical configuration, or vice versa. The one ormore sensors may detect an angular acceleration, velocity, ororientation of the handle bar configuration as the handle assembly mayrotate from a horizontal to vertical or vertical to horizontalconfiguration. In an example, the angular orientation, velocity, oracceleration may be sensed by an inertial measurement unit, a group ofHall sensors, or any other type of sensors, such as those describedelsewhere herein. The sensors may communicate with the processorwirelessly or through a wired connection.

One or more processors may receive information from sensors. Theprocessors may make a determination whether a stabilization platform hasswitched modes (e.g., whether a handle assembly has changedorientation). Based on the information from the sensors, a signal may begenerated and used to control one or more motors. The one or more motorsmay be used to maintain and/or alter the position of the payloadrelative to the handle assembly. In response to a change in orientationof the handle assembly, the processor may instruct a change in motorcontrol 703. The change in motor control may include changing therotational axis that is being controlled by one or more motors. Forexample, a first motor may be used to control rotation about a firstaxis when the handle assembly is in the first orientation. A secondmotor may be used to control rotation about a second axis. When a changein the orientation of the handle assembly to a second orientation isdetected, the first motor may be used to control rotation about thesecond axis. The first motor may be used to control rotation about thefirst axis. The first axis may be a yaw axis while the second axis maybe a roll axis, or vice versa. Control algorithms may be updated toinclude the change in order of axis control. In another example, achange in motor control may be to turn off or on a motor on thestabilization platform. The change in motor control may instruct one ormore of the motors to change rotation direction, speed, or axis. Thestep of detecting the change in mode, handle bar assembly orientation,may occur simultaneously with the change in motor control. These stepsmay occur repeatedly to change back and forth between a first and secondconfiguration of the stabilization platform. For example, if the handleassembly configuration is changed back from the second orientation tothe first orientation, the first motor may be changed back tocontrolling motion about a first axis while the second motor may bechanged back to controlling motion about a second axis. Computations maybe made taking into account the changes in the axes that the motors arecontrolling when generating signals to control the motors to stabilizethe platform. For example, if it is desirable to rotate the payloadabout a yaw axis, instructions may be sent to the first motor to effectrotation when the handle assembly is in the first orientation, andinstructions may be sent to the second motor to effect rotation when thehandle assembly is in the second orientation. Similarly, if it isdesirable to rotate the payload about a roll axis, instructions may besent to the second motor to effect rotation when the handle assembly isin the first orientation, and instructions may be sent to the firstmotor to effect rotation when the handle assembly is in the secondorientation.

In addition to switching the motor control the processor may furtherinstruct a rotation of one or more motors. FIG. 8 outlines an example ofa detection and response including the motor control change and arotation of a motor. The stabilization platform may have an initialconfiguration 801, for example, the initial configuration may be ahorizontal or vertical configuration of a handle assembly or othercomponent of the stabilization platform. The sensors on board thestabilization platform may monitor the rotation of the handle assembly,frame components, and/or payload about the yaw, roll, and/or pitch axes802. The sensors may transmit information about the rotation of thehandle assembly, frame components, and/or payload about the yaw, roll,and/or pitch axes to a processor. The sensors may transmit theinformation by a wired connection or by a wireless connection.

The processor may be onboard or off-board the stabilization platform.Any description herein of a processor may apply to any number ofprocessors, which may all be on-board the stabilization platform,off-board the stabilization platform, or any combination of on-board andoff-board the stabilization platform. The processors may individually orcollectively be configured to perform any of the steps described.

The processor may interpret the information from the sensors to detect achange in handle assembly position from a first to a secondconfiguration 803. In response to the detected change the processor mayinstruct at least one of the motors to rotate a finite number of degreesabout a single axis 804. For example, the motor may rotate about 90°. Inone example, the first motor may be instructed to rotate a predeterminednumber of degrees (e.g., 15, 30, 45, 60, 75, 90, 105, 120, 150, or 180degrees. The first motor may be instructed to rotate 90 degrees, so thata frame component driven by the motor also rotates by 90 degrees. A barof the frame component may be perpendicular to a handle bar of a handleassembly, when the handle assembly is in a first orientation. The motormay rotate the bar of the frame component to be parallel to the handlebar, when the handle assembly is in the second orientation. The bar maybe rotated to remain substantially parallel to a direction of gravity.In some instances, the first motor may control the rotation of thepayload about a yaw axis when the handle assembly is in a firstorientation and the rotation of the payload about a roll axis when thehandle assembly is in the second orientation. The rotation of the firstmotor may occur concurrently with switching the orientation of thehandle assembly. The processor may communicate with one or more of aplurality of motors wirelessly or through a wired connection.

After the rotation of the motor or concurrent with the rotation of themotor the processor may instruct a change in motor control of two ormore axes 805. For example, the processor may cause a first motor tochange from controlling rotation of a frame component about a yaw axisto controlling rotation of a frame component about a roll axis. A secondmotor may be instructed by the processor to change from controllingrotation of a frame component about a roll axis to controlling rotationof a frame component about a yaw axis.

In an example, the stabilization platform may have an initial horizontalconfiguration shown in FIG. 3. The horizontal configuration may theunderslung mode of the stabilization platform. In the underslung mode,the platform may be held with two hands on handles 307 attached toeither side of a handle bar. The payload 308 may be located below thehandles such that the center of mass of the frame assembly and payloadsystem is below the handles. The yaw axis motor 301 may be a firstmotor. The yaw axis motor may be located above the payload when thestabilization platform is in an underslung mode. The yaw axis motor maybe located beneath the payload when the stabilization platform is in anupright mode. The yaw axis motor may be the motor closest to the handlebar. The yaw axis motor may effect rotation of a first frame component304. The rotation of the first motor and/or first frame component mayeffect the rotation of other frame components 305, 306 and/or payload308 supported by the first frame component.

A roll axis motor 302 may be a second motor. The roll axis motor may belocated behind the payload when the handle assembly is in a horizontalconfiguration. The roll axis motor may be located behind the payloadwhen the stabilization platform is in an underslung mode or in anupright mode. The roll axis motor may be further from the handle barthan the yaw axis motor. The roll axis motor may effect rotation of asecond frame component 305. The rotation of the roll axis motor mayeffect rotation of other frame components 306 and/or payload 308supported by the second frame component. In some instances, the firstframe component 304 is not supported by the second frame component, andactuation of the second motor does not effect movement of the firstframe component.

The system may further include a third motor 303 dedicated tocontrolling the pitch rotation of the payload 308. The third motor maybe a pitch axis motor. The third motor may be located to the right orleft of the payload. The third motor may be located to the right or leftof the payload when the stabilization platform is in underslung mode,upright mode, or briefcase mode. The third motor may effect rotation ofa third frame component 306. The rotation of the roll axis motor mayeffect rotation of the payload 308 and/or any other frame componentsthat may be supported by the third frame component. In some instances,the first and/or second frame components 304, 305 are not supported bythe third frame component, and actuation of the third motor does noteffect movement of the first and/or second frame components.

The handle may be rotated downward such that it approaches a verticalconfiguration as shown in FIG. 9. During the continuous movement of thehandle bar, one or more intermediate configurations may be provided. Thepayload may maintain its initial orientation as the handle bar rotates.For instance, a payload 901 may remain substantially level while thehandle bar 902 is at an angle. The rotation of the handle bar 1003 maycontinue as shown in FIG. 10. Once the angle of the handle bar relativeto a horizontal plane reaches a predetermined threshold value the systemmay register a change in mode from a horizontal mode to a vertical mode.The predetermined threshold angle may be at 90°. Alternatively thethreshold angle may be least 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°,55°, 60°, 65°, 70°, 75°, 80°, 85°, 95°, 100°, 105°, 110°, 115°, 120°,125°, 130°, 135°, 140°, 145°, 150°, 155°, 160°, 165°, 170°, or 180°. Thethreshold angle may be a fixed value. For example, when the handle baris within 5 degrees of being vertically oriented, the system mayregister the change. Alternatively the threshold angle may be a functionof the angular rotation speed or acceleration. The threshold angle maybe calculated with aid of a processor. The calculation may occur usingthe handle bar angular speed and/or acceleration. The calculation mayoccur using the direction the handle bar is rotating. The thresholdangle may be set by the user. The angle of the handle bar relative tothe horizontal plane may be sensed by the sensors on board thestabilization platform, for example the inertial sensors, Hall sensors,or any other types of sensors described elsewhere herein. The sensorsmay be located on the handle assembly, the frame assembly, payload,and/or on one or more of the motors. In some cases, the rotation of thehandles may be calculated by an inertial measurement unit (IMU) on thestabilization unit in a real-time. The IMU may be a pan-tilt-zoom (PTZ)inertial measurement unit. The joint angle of each frame joint can bemeasured by Hall sensors. Hall sensors may be located on the joints. TheHall sensors may be attached to the three motors used to rotate thepayload about the yaw, roll, and pitch axes. The rotation of the handlescan be reversely determined by calculating a quaternion differencebetween the rotation of the handle's ends and the joint angles. Aprocessor may determine whether the handle has switched from ahorizontal to a vertical mode based on the measured handle rotation.

In the intermediary configurations shown in FIG. 9 and FIG. 10, thefirst motor 1001 may control rotation about the yaw axis and the secondmotor may control rotation about the roll axis 1002. When the processordetects a change from a first mode (horizontal) to a second mode(vertical) the processor may instruct the first motor 1001 may undergo afinite rotation. For example the first motor may rotate 90°.Alternatively the motor may rotate at least 15°, 20°, 25°, 30°, 35°,40°, 45°, 50°, 55°, 60°, 65°, 70°, 75°, 80°, 85°, 95°, 100°, 105°, 110°,115°, 120°, 125°, 130°, 135°, 140°, 145°, 150°, 155°, 160°, 165°, 170°,or 180°. In addition to rotating the first motor 1001, the processor mayalso instruct the first 1001 and second 1002 motors to swap functionssuch that the first motor controls rotation about the roll axis and thesecond motor controls rotation about the yaw axis.

An example of the final result of the handle rotation and the motorrotation may be shown in FIG. 11 a and FIG. 11 b. FIG. 11 a and FIG. 11b show the stabilization platform 1100 in a vertical configuration (e.g.briefcase mode). In this mode the first motor 1101 may control rotationabout the roll axis and the second 1102 motor may control rotation aboutthe yaw axis. Rotation about the pitch axis may be controlled by thethird motor 1103.

This disclosure describes in detail the processes of switching axiscontrol between motors controlling yaw and roll rotation. Thisdescription is intended to be exemplary of the features of thestabilization platform rather than limiting. In other embodiments thestabilization platform may be configured to switch motor control in themanner described between any set of motors. In another example, this mayinclude switching control between a pitch and roll motor, a yaw andpitch motor, or a yaw, pitch, and roll motor. Additionally the sequencedescribes the process of switching from a substantially horizontalconfiguration to a substantially vertical configuration. The oppositeresult could be achieved (i.e. from a substantially verticalconfiguration to a substantially horizontal configuration) by reversingthe sequence of motions described.

FIG. 11 a provides a view of a stabilization platform 1100 with a handleassembly in a second orientation (e.g., vertical orientation). A firstmotor 1101, second motor 1102, and third motor 1103 may be provided. Aframe assembly may include a first frame component 1104, second framecomponent 1105, and third frame component 1106. A handle assembly mayinclude a handle bar 1107 connecting a pair of grips 1108. Optionally, athird grip 1109 may be provided. The payload 1110 may be supported bythe frame components.

When in the second orientation (e.g., briefcase mode), the first motor1101 may control roll of the payload, the second motor 1102 may controlyaw of the payload, and/or the third motor 1103 may control pitch of thepayload. The first frame component 1104 may include a bar that may besubstantially parallel to the handle bar when the stabilization platformis in the second orientation. The second motor may be supported by thefirst frame component. The second frame component 1105 may be driven bythe second motor and may move relative to the first frame componentabout a yaw axis. The third motor may be supported by the second framecomponent. The third frame component 1106 may be driven by the thirdmotor. The third frame component may support the payload 1110. Thepayload may be fixed relative to the third frame component. The firstmotor may be located substantially behind the payload. The second motormay be located substantially beneath the payload. The third motor may belocated to the right and/or left of the payload.

FIG. 11 b shows an additional view of the stabilization platform in abriefcase mode. Optionally, one or more frame components may includepieces that may be fixed relative to one another or movable relative toone another. In some instances, a first frame component 1104 may includea track 1111 that may enable a piece of the frame component to sliderelative to another piece of the frame component. Vertical, horizontal,and/or translational motions may be achieved.

A transition from a horizontal configuration (e.g., FIG. 3) to avertical configuration (e.g., FIG. 11 a, 11 b) may result in rotation ofa first motor by about 90 degrees to effect rotation of a first framecomponent. The first frame component 304 may include a bar that may besubstantially perpendicular to a horizontal handle bar when thestabilization platform is in the horizontal configuration, and the firstframe component 1104 may include a bar that may be substantiallyparallel to a vertical handle bar 1107 when the stabilization platformis in a vertical configuration. The rotation of the first motor mayaffect the orientation of the first frame component. The first framecomponent may include the bar that may be substantially vertical in boththe horizontal and vertical configurations. The first frame componentmay rotate with the handle assembly when the stabilization platform ispassing through intermediary configurations (e.g., FIG. 9, FIG. 10), butmay rotate when the stabilization platform reaches or nears the verticalconfiguration.

The second motor 302 may be located behind the payload when thestabilization platform is in the horizontal configuration. The secondmotor 1102 may be located beneath the payload when the stabilizationplatform is in the vertical configuration. The orientation of payloadrelative to one or more grips of the handle assembly may change betweenthe horizontal and vertical configurations. For instance, a payload 308may face in a direction perpendicular to one or more grips 307 in ahorizontal configuration, while the payload 1110 may be facing in adirection parallel to one or more grips 1108 in a verticalconfiguration. The payload 308 may face in a direction parallel to athird grip in a horizontal configuration, while the payload 1110 mayface in a direction perpendicular to a third grip 1109 in a verticalconfiguration. The second motor may have an axis of rotation parallel tothe direction that a payload is facing in a horizontal configuration,while the second motor may have an axis of rotation perpendicular to thedirection the payload is facing in a vertical configuration.

A third frame component 306 may include side bars that may besubstantially perpendicular to side bars of a second frame component 305when the stabilization platform is in a horizontal configuration. Thethird frame component 1106 may include side bars that may besubstantially parallel to side bars of a second frame component 1105when the stabilization platform is in a vertical configuration. Thesecond and third frame components may not be coplanar when thestabilization platform is in a horizontal configuration. The second andthird frame components may be coplanar when the stabilization platformis in a vertical configuration. A lateral bar of the third framecomponent may be beneath the payload when the stabilization platform isin a horizontal configuration and when the stabilization platform is ina vertical configuration.

Any description herein of how components of a stabilization platform maybe positioned or oriented, or may change in orientation may apply towhen the stabilization platform changes from a horizontal to verticalconfiguration, or vice versa.

An example of a user with the stabilization platform holding a camera isshown in FIG. 12. The three modes may be advantageous when capturingdifferent shot angles. For example the underslung mode 1201 may be usedto capture still images or video of features at or below a chest heightof a user. Upright mode 1203 may capture still images or video offeatures at an eye level or above a height of a user. Lastly, thebriefcase mode 1202 may decrease the size of the stabilization platforminto a compact geometry compared to the upright and underslung modes.The briefcase mode may be chosen in area with limited space to shootfeatures.

The user may grip one or more of the side grips, or a third centralgrip. In some examples, a user may grip the side grips with two hands toprovide a horizontal orientation for a handle bar (e.g., in underslungor upright modes). A user may grip the third grip in a single hand,which may permit a horizontal orientation for a handle bar. In anotherexample, a user may grip a side grip with one hand and the third centralgrip with another hand. A user may grip a single side grip to provide avertical orientation for the handle bar (e.g., in briefcase mode). Theuser may optionally grip the third central grip in a single hand, whichmay permit vertical orientation for the handle bar. Optionally, a usermay grip any one or two of the grips to provide any orientation for thehandle bar.

The user may transition between different modes. The payload may remainoperational while the user is transitioning between the different modes.The payload may remain operational while the stabilization platform isin an intermediary mode. For example, if the payload is a camera, thecamera may remain powered on and/or recording while the user istransitioning between different modes. The user may change theorientation of a handle assembly, while the payload, such as the camera,may be seamlessly collecting data. The stabilization platform may remainoperation while the user is transitioning between different modes. Oneor more motors and/or processors may be in operation to stabilize apayload while the user is changing the orientation of the handleassembly. Data from sensors may be continuously collected, collected ona periodic basis, or collected in response to an event. The data fromthe sensors may be used to generate a signal that may control actuationof the motors. Such data collection and control may occur substantiallyin real-time while the user may be moving the handle assembly.Optionally, a payload may remain stabilized while the handle assembly ismoved (e.g., translationally or rotationally). For example, a camera mayremain oriented in the same direction and little or no jerkiness orshaking may ensue while the user moves around the handle assembly. Theimage captured by the camera may remain level.

In an alternate case, the stabilization platform may be mounted on anobject. The object may be a stationary object, or a movable object, suchas a vehicle. When the stabilization platform is mounted on a vehicle,the platform may or may not be held by a human user. Alternatively, thestabilization platform may be mounted to a vehicle or other object usinga permanent or temporary attachment. For example, a boom may beprovided, from which the stabilization platform may hang. Thestabilization platform may be mounted to a front, back, side, top, orbottom of a vehicle. A vehicle may have attachments for a stabilizationplatform in one or more locations on the vehicle. The stabilizationplatform may be mounted to the vehicle in a horizontal or verticalconfiguration. The mounts for the stabilization platform on the vehiclemay be configured such that they may rotate or translate to cause thestabilization platform to change from a horizontal to a verticalconfiguration. The vehicle may be a car, truck, bus, trolley, boat,motorcycle, bike, airplane, jet plane, unmanned aerial vehicle (UAV), atrain, or any other type of vehicle as described elsewhere herein. FIGS.13 a and 13 b show possible examples of stabilization platforms 1301mounted to a car 1302 and a UAV 1303.

The payload may be a camera. The camera may be stabilized by thestabilization platform, which may be carried by a stationary or movableobject. In some instances, the camera may remain on while thestabilization platform is moved by a movable object. The camera maycapture still photos or video while the stabilization platform isstationary or in motion. A user may carry the stabilization in theuser's hands and then attach is to an object, such as a boom or movableobject. The camera may remain on and collecting image data while thetransition from handheld to object-supported is made. The camera may bestabilized so that the image collected remains smooth while thetransition is made from being handheld to object-supported. Similarly,the camera may remain on and stabilized while a transition may occurfrom being object-supported to handheld. The stabilization platformdescribed herein may reduce the likelihood of gimbal lock and mayadvantageously permit the payload to remain stabilized while a handleassembly orientation and/or position is changed. This may permit smoothvideo capture while the video capture device is moved around in ahandheld or object-supported fashion.

The systems, devices, and methods described herein may includestabilization platform that can be carried by a wide variety of movableobjects. Any description herein of an aerial vehicle, such as a UAV, mayapply to and be used for any movable object. Any description herein ofan aerial vehicle may apply specifically to UAVs. A movable object ofthe present invention can be configured to move within any suitableenvironment, such as in air (e.g., a fixed-wing aircraft, a rotary-wingaircraft, or an aircraft having neither fixed wings nor rotary wings),in water (e.g., a ship or a submarine), on ground (e.g., a motorvehicle, such as a car, truck, bus, van, motorcycle, bicycle; a movablestructure or frame such as a stick, fishing pole; or a train), under theground (e.g., a subway), in space (e.g., a spaceplane, a satellite, or aprobe), or any combination of these environments. The movable object canbe a vehicle, such as a vehicle described elsewhere herein. In someembodiments, the movable object can be carried by a living subject, ortake off from a living subject, such as a human or an animal. Suitableanimals can include avines, canines, felines, equines, bovines, ovines,porcines, delphines, rodents, or insects. A human or any other type ofmovable object described herein may be used to carry or support astabilization platform.

The movable object may be capable of moving freely within theenvironment with respect to six degrees of freedom (e.g., three degreesof freedom in translation and three degrees of freedom in rotation).Alternatively, the movement of the movable object can be constrainedwith respect to one or more degrees of freedom, such as by apredetermined path, track, or orientation. The movement can be actuatedby any suitable actuation mechanism, such as an engine or a motor. Theactuation mechanism of the movable object can be powered by any suitableenergy source, such as electrical energy, magnetic energy, solar energy,wind energy, gravitational energy, chemical energy, nuclear energy, orany suitable combination thereof. The movable object may beself-propelled via a propulsion system, as described elsewhere herein.The propulsion system may optionally run on an energy source, such aselectrical energy, magnetic energy, solar energy, wind energy,gravitational energy, chemical energy, nuclear energy, or any suitablecombination thereof. Alternatively, the movable object may be carried bya living being.

In some instances, the movable object can be an aerial vehicle. Forexample, aerial vehicles may be fixed-wing aircraft (e.g., airplane,gliders), rotary-wing aircraft (e.g., helicopters, rotorcraft), aircrafthaving both fixed wings and rotary wings, or aircraft having neither(e.g., blimps, hot air balloons). An aerial vehicle can beself-propelled, such as self-propelled through the air. A self-propelledaerial vehicle can utilize a propulsion system, such as a propulsionsystem including one or more engines, motors, wheels, axles, magnets,rotors, propellers, blades, nozzles, or any suitable combinationthereof. In some instances, the propulsion system can be used to enablethe movable object to take off from a surface, land on a surface,maintain its current position and/or orientation (e.g., hover), changeorientation, and/or change position.

The movable object can be controlled remotely by a user or controlledlocally by an occupant within or on the movable object. The movableobject may be controlled remotely via an occupant within a separatevehicle. In some embodiments, the movable object is an unmanned movableobject, such as a UAV. An unmanned movable object, such as a UAV, maynot have an occupant onboard the movable object. The movable object canbe controlled by a human or an autonomous control system (e.g., acomputer control system), or any suitable combination thereof. Themovable object can be an autonomous or semi-autonomous robot, such as arobot configured with an artificial intelligence.

The movable object can have any suitable size and/or dimensions. In someembodiments, the movable object may be of a size and/or dimensions tohave a human occupant within or on the vehicle. Alternatively, themovable object may be of size and/or dimensions smaller than thatcapable of having a human occupant within or on the vehicle. The movableobject may be of a size and/or dimensions suitable for being lifted orcarried by a human. Alternatively, the movable object may be larger thana size and/or dimensions suitable for being lifted or carried by ahuman. In some instances, the movable object may have a maximumdimension (e.g., length, width, height, diameter, diagonal) of less thanor equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Themaximum dimension may be greater than or equal to about: 2 cm, 5 cm, 10cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, the distance betweenshafts of opposite rotors of the movable object may be less than orequal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.Alternatively, the distance between shafts of opposite rotors may begreater than or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m,or 10 m.

In some embodiments, the movable object may have a volume of less than100 cm×100 cm×100 cm, less than 50 cm×50 cm×30 cm, or less than 5 cm×5cm×3 cm. The total volume of the movable object may be less than orequal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40 cm³, 50cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³, 300 cm³,500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³3, 1 m³, or10 m³. Conversely, the total volume of the movable object may be greaterthan or equal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40cm³, 50 cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³,300 cm³, 500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³,1 m³, or 10 m³.

In some embodiments, the movable object may have a footprint (which mayrefer to the lateral cross-sectional area encompassed by the movableobject) less than or equal to about: 32,000 cm², 20,000 cm², 10,000 cm²,1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm². Conversely, thefootprint may be greater than or equal to about: 32,000 cm², 20,000 cm²,10,000 cm², 1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm².

In some instances, the movable object may weigh no more than 1000 kg.The weight of the movable object may be less than or equal to about:1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg,8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg,or 0.01 kg. Conversely, the weight may be greater than or equal toabout: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1kg, 0.05 kg, or 0.01 kg.

In some embodiments, a movable object may be small relative to a loadcarried by the movable object. The load may include a payload and/or acarrier, as described in further detail elsewhere herein. In someexamples, a ratio of a movable object weight to a load weight may begreater than, less than, or equal to about 1:1. In some instances, aratio of a movable object weight to a load weight may be greater than,less than, or equal to about 1:1. Optionally, a ratio of a carrierweight to a load weight may be greater than, less than, or equal toabout 1:1. When desired, the ratio of an movable object weight to a loadweight may be less than or equal to: 1:2, 1:3, 1:4, 1:5, 1:10, or evenless. Conversely, the ratio of a movable object weight to a load weightcan also be greater than or equal to: 2:1, 3:1, 4:1, 5:1, 10:1, or evengreater.

In some embodiments, the movable object may have low energy consumption.For example, the movable object may use less than about: 5 W/h, 4 W/h, 3W/h, 2 W/h, 1 W/h, or less. In some instances, a carrier of the movableobject may have low energy consumption. For example, the carrier may useless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less. Optionally,a payload of the movable object may have low energy consumption, such asless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less.

FIG. 14 illustrates an unmanned aerial vehicle (UAV) 1400, in accordancewith embodiments of the present invention. The UAV may be an example ofa movable object as described herein. The UAV 1400 can include apropulsion system having four rotors 1402, 1404, 1406, and 1408. Anynumber of rotors may be provided (e.g., one, two, three, four, five,six, or more). The rotors, rotor assemblies, or other propulsion systemsof the unmanned aerial vehicle may enable the unmanned aerial vehicle tohover/maintain position, change orientation, and/or change location. Thedistance between shafts of opposite rotors can be any suitable length410. For example, the length 1410 can be less than or equal to 2 m, orless than equal to 5 m. In some embodiments, the length 1410 can bewithin a range from 40 cm to 1 m, from 10 cm to 2 m, or from 5 cm to 5m. Any description herein of a UAV may apply to a movable object, suchas a movable object of a different type, and vice versa. The UAV may usean assisted takeoff system or method as described herein.

In some embodiments, the movable object can be configured to carry aload. The load can include one or more of passengers, cargo, equipment,instruments, and the like. The load can be provided within a housing.The housing may be separate from a housing of the movable object, or bepart of a housing for a movable object. Alternatively, the load can beprovided with a housing while the movable object does not have ahousing. Alternatively, portions of the load or the entire load can beprovided without a housing. The load can be rigidly fixed relative tothe movable object. Optionally, the load can be movable relative to themovable object (e.g., translatable or rotatable relative to the movableobject). The load can include a payload and/or a carrier, as describedelsewhere herein.

In some embodiments, the movement of the movable object, carrier, andpayload relative to a fixed reference frame (e.g., the surroundingenvironment) and/or to each other, can be controlled by a terminal. Theterminal can be a remote control device at a location distant from themovable object, carrier, and/or payload. The terminal can be disposed onor affixed to a support platform. Alternatively, the terminal can be ahandheld or wearable device. For example, the terminal can include asmartphone, tablet, laptop, computer, glasses, gloves, helmet,microphone, or suitable combinations thereof. The terminal can include auser interface, such as a keyboard, mouse, joystick, touchscreen, ordisplay. Any suitable user input can be used to interact with theterminal, such as manually entered commands, voice control, gesturecontrol, or position control (e.g., via a movement, location or tilt ofthe terminal).

The terminal can be used to control any suitable state of the movableobject, carrier, and/or payload. For example, the terminal can be usedto control the position and/or orientation of the movable object,carrier, and/or payload relative to a fixed reference from and/or toeach other. In some embodiments, the terminal can be used to controlindividual elements of the movable object, carrier, and/or payload, suchas the actuation assembly of the carrier, a sensor of the payload, or anemitter of the payload. The terminal can include a wirelesscommunication device adapted to communicate with one or more of themovable object, carrier, or payload.

The terminal can include a suitable display unit for viewing informationof the movable object, carrier, and/or payload. For example, theterminal can be configured to display information of the movable object,carrier, and/or payload with respect to position, translationalvelocity, translational acceleration, orientation, angular velocity,angular acceleration, or any suitable combinations thereof. In someembodiments, the terminal can display information provided by thepayload, such as data provided by a functional payload (e.g., imagesrecorded by a camera or other image capturing device).

Optionally, the same terminal may both control the movable object,carrier, and/or payload, or a state of the movable object, carrierand/or payload, as well as receive and/or display information from themovable object, carrier and/or payload. For example, a terminal maycontrol the positioning of the payload relative to an environment, whiledisplaying image data captured by the payload, or information about theposition of the payload. Alternatively, different terminals may be usedfor different functions. For example, a first terminal may controlmovement or a state of the movable object, carrier, and/or payload whilea second terminal may receive and/or display information from themovable object, carrier, and/or payload. For example, a first terminalmay be used to control the positioning of the payload relative to anenvironment while a second terminal displays image data captured by thepayload. Various communication modes may be utilized between a movableobject and an integrated terminal that both controls the movable objectand receives data, or between the movable object and multiple terminalsthat both control the movable object and receives data. For example, atleast two different communication modes may be formed between themovable object and the terminal that both controls the movable objectand receives data from the movable object.

FIG. 15 illustrates a movable object 1500 including a carrier 1502 and apayload 1504, in accordance with embodiments. Although the movableobject 1500 is depicted as an aircraft, this depiction is not intendedto be limiting, and any suitable type of movable object can be used, aspreviously described herein. One of skill in the art would appreciatethat any of the embodiments described herein in the context of aircraftsystems can be applied to any suitable movable object (e.g., an UAV). Insome instances, the payload 1504 may be provided on the movable object1500 without requiring the carrier 1502. The movable object 1500 mayinclude propulsion mechanisms 1906, a sensing system 1508, and acommunication system 1510.

The propulsion mechanisms 1506 can include one or more of rotors,propellers, blades, engines, motors, wheels, axles, magnets, or nozzles,as previously described. The movable object may have one or more, two ormore, three or more, or four or more propulsion mechanisms. Thepropulsion mechanisms may all be of the same type. Alternatively, one ormore propulsion mechanisms can be different types of propulsionmechanisms. The propulsion mechanisms 1506 can be mounted on the movableobject 1500 using any suitable means, such as a support element (e.g., adrive shaft) as described elsewhere herein. The propulsion mechanisms1506 can be mounted on any suitable portion of the movable object 1500,such on the top, bottom, front, back, sides, or suitable combinationsthereof.

In some embodiments, the propulsion mechanisms 1506 can enable themovable object 1500 to take off vertically from a surface or landvertically on a surface without requiring any horizontal movement of themovable object 1500 (e.g., without traveling down a runway). Optionally,the propulsion mechanisms 1506 can be operable to permit the movableobject 1500 to hover in the air at a specified position and/ororientation. One or more of the propulsion mechanisms 1500 may becontrolled independently of the other propulsion mechanisms.Alternatively, the propulsion mechanisms 1500 can be configured to becontrolled simultaneously. For example, the movable object 1500 can havemultiple horizontally oriented rotors that can provide lift and/orthrust to the movable object. The multiple horizontally oriented rotorscan be actuated to provide vertical takeoff, vertical landing, andhovering capabilities to the movable object 1500. In some embodiments,one or more of the horizontally oriented rotors may spin in a clockwisedirection, while one or more of the horizontally rotors may spin in acounterclockwise direction. For example, the number of clockwise rotorsmay be equal to the number of counterclockwise rotors. The rotation rateof each of the horizontally oriented rotors can be varied independentlyin order to control the lift and/or thrust produced by each rotor, andthereby adjust the spatial disposition, velocity, and/or acceleration ofthe movable object 1500 (e.g., with respect to up to three degrees oftranslation and up to three degrees of rotation).

The sensing system 1508 can include one or more sensors that may sensethe spatial disposition, velocity, and/or acceleration of the movableobject 1500 (e.g., with respect to up to three degrees of translationand up to three degrees of rotation). The one or more sensors caninclude global positioning system (GPS) sensors, motion sensors,inertial sensors, proximity sensors, or image sensors. The sensing dataprovided by the sensing system 1508 can be used to control the spatialdisposition, velocity, and/or orientation of the movable object 1500(e.g., using a suitable processing unit and/or control module, asdescribed below). Alternatively, the sensing system 1508 can be used toprovide data regarding the environment surrounding the movable object,such as weather conditions, proximity to potential obstacles, locationof geographical features, location of manmade structures, and the like.

The communication system 1510 enables communication with terminal 1512having a communication system 1514 via wireless signals 1516. Thecommunication systems 1510, 1514 may include any number of transmitters,receivers, and/or transceivers suitable for wireless communication. Thecommunication may be one-way communication, such that data can betransmitted in only one direction. For example, one-way communicationmay involve only the movable object 1500 transmitting data to theterminal 1512, or vice-versa. The data may be transmitted from one ormore transmitters of the communication system 1510 to one or morereceivers of the communication system 1512, or vice-versa.Alternatively, the communication may be two-way communication, such thatdata can be transmitted in both directions between the movable object1500 and the terminal 1512. The two-way communication can involvetransmitting data from one or more transmitters of the communicationsystem 1510 to one or more receivers of the communication system 1514,and vice-versa.

In some embodiments, the terminal 1512 can provide control data to oneor more of the movable object 1500, carrier 1502, and payload 1504 andreceive information from one or more of the movable object 1500, carrier1502, and payload 1504 (e.g., position and/or motion information of themovable object, carrier or payload; data sensed by the payload such asimage data captured by a payload camera). In some instances, controldata from the terminal may include instructions for relative positions,movements, actuations, or controls of the movable object, carrier and/orpayload. For example, the control data may result in a modification ofthe location and/or orientation of the movable object (e.g., via controlof the propulsion mechanisms 1506), or a movement of the payload withrespect to the movable object (e.g., via control of the carrier 1502).The control data from the terminal may result in control of the payload,such as control of the operation of a camera or other image capturingdevice (e.g., taking still or moving pictures, zooming in or out,turning on or off, switching imaging modes, change image resolution,changing focus, changing depth of field, changing exposure time,changing viewing angle or field of view). In some instances, thecommunications from the movable object, carrier and/or payload mayinclude information from one or more sensors (e.g., of the sensingsystem 1508 or of the payload 1504). The communications may includesensed information from one or more different types of sensors (e.g.,GPS sensors, motion sensors, inertial sensor, proximity sensors, orimage sensors). Such information may pertain to the position (e.g.,location, orientation), movement, or acceleration of the movable object,carrier and/or payload. Such information from a payload may include datacaptured by the payload or a sensed state of the payload. The controldata provided transmitted by the terminal 1512 can be configured tocontrol a state of one or more of the movable object 1500, carrier 1502,or payload 1504. Alternatively or in combination, the carrier 1502 andpayload 1504 can also each include a communication module configured tocommunicate with terminal 1512, such that the terminal can communicatewith and control each of the movable object 1500, carrier 1502, andpayload 1504 independently.

In some embodiments, the movable object 1500 can be configured tocommunicate with another remote device in addition to the terminal 1512,or instead of the terminal 1512. The terminal 1512 may also beconfigured to communicate with another remote device as well as themovable object 1500. For example, the movable object 1500 and/orterminal 1512 may communicate with another movable object, or a carrieror payload of another movable object. When desired, the remote devicemay be a second terminal or other computing device (e.g., computer,laptop, tablet, smartphone, or other mobile device). The remote devicecan be configured to transmit data to the movable object 1500, receivedata from the movable object 1900, transmit data to the terminal 1512,and/or receive data from the terminal 1512. Optionally, the remotedevice can be connected to the Internet or other telecommunicationsnetwork, such that data received from the movable object 1500 and/orterminal 1512 can be uploaded to a website or server.

FIG. 16 is a schematic illustration by way of block diagram of a system1600 for controlling a movable object, in accordance with embodiments.The system 1600 can be used in combination with any suitable embodimentof the systems, devices, and methods disclosed herein. The system 1600can include a sensing module 1602, processing unit 1604, non-transitorycomputer readable medium 1606, control module 1608, and communicationmodule 1610.

The sensing module 1602 can utilize different types of sensors thatcollect information relating to the movable objects in different ways.Different types of sensors may sense different types of signals orsignals from different sources. For example, the sensors can includeinertial sensors, GPS sensors, proximity sensors (e.g., lidar), orvision/image sensors (e.g., a camera). The sensing module 1602 can beoperatively coupled to a processing unit 1604 having a plurality ofprocessors. In some embodiments, the sensing module can be operativelycoupled to a transmission module 1612 (e.g., a Wi-Fi image transmissionmodule) configured to directly transmit sensing data to a suitableexternal device or system. For example, the transmission module 1612 canbe used to transmit images captured by a camera of the sensing module1602 to a remote terminal.

The processing unit 1604 can have one or more processors, such as aprogrammable processor (e.g., a central processing unit (CPU)). Theprocessing unit 1604 can be operatively coupled to a non-transitorycomputer readable medium 1606. The non-transitory computer readablemedium 1606 can store logic, code, and/or program instructionsexecutable by the processing unit 1604 for performing one or more steps.The non-transitory computer readable medium can include one or morememory units (e.g., removable media or external storage such as an SDcard or random access memory (RAM)). In some embodiments, data from thesensing module 1602 can be directly conveyed to and stored within thememory units of the non-transitory computer readable medium 1606. Thememory units of the non-transitory computer readable medium 1606 canstore logic, code and/or program instructions executable by theprocessing unit 1604 to perform any suitable embodiment of the methodsdescribed herein. For example, the processing unit 1604 can beconfigured to execute instructions causing one or more processors of theprocessing unit 1604 to analyze sensing data produced by the sensingmodule. The memory units can store sensing data from the sensing moduleto be processed by the processing unit 1604. In some embodiments, thememory units of the non-transitory computer readable medium 1606 can beused to store the processing results produced by the processing unit1604.

In some embodiments, the processing unit 1604 can be operatively coupledto a control module 1608 configured to control a state of the movableobject. For example, the control module 1608 can be configured tocontrol the propulsion mechanisms of the movable object to adjust thespatial disposition, velocity, and/or acceleration of the movable objectwith respect to six degrees of freedom. Alternatively or in combination,the control module 1608 can control one or more of a state of a carrier,payload, or sensing module.

The processing unit 1604 can be operatively coupled to a communicationmodule 1610 configured to transmit and/or receive data from one or moreexternal devices (e.g., a terminal, display device, or other remotecontroller). Any suitable means of communication can be used, such aswired communication or wireless communication. For example, thecommunication module 1610 can utilize one or more of local area networks(LAN), wide area networks (WAN), infrared, radio, WiFi, point-to-point(P2P) networks, telecommunication networks, cloud communication, and thelike. Optionally, relay stations, such as towers, satellites, or mobilestations, can be used. Wireless communications can be proximitydependent or proximity independent. In some embodiments, line-of-sightmay or may not be required for communications. The communication module1610 can transmit and/or receive one or more of sensing data from thesensing module 1602, processing results produced by the processing unit1604, predetermined control data, user commands from a terminal orremote controller, and the like.

The components of the system 1600 can be arranged in any suitableconfiguration. For example, one or more of the components of the system1600 can be located on the movable object, carrier, payload, terminal,sensing system, or an additional external device in communication withone or more of the above. Additionally, although FIG. 16 depicts asingle processing unit 1604 and a single non-transitory computerreadable medium 1606, one of skill in the art would appreciate that thisis not intended to be limiting, and that the system 1600 can include aplurality of processing units and/or non-transitory computer readablemedia. In some embodiments, one or more of the plurality of processingunits and/or non-transitory computer readable media can be situated atdifferent locations, such as on the movable object, carrier, payload,terminal, sensing module, additional external device in communicationwith one or more of the above, or suitable combinations thereof, suchthat any suitable aspect of the processing and/or memory functionsperformed by the system 1600 can occur at one or more of theaforementioned locations.

Any description herein of a carrier may apply to the stabilizationplatform as described or any other type of carrier.

Optionally, a stabilization platform may be controlled by a singleoperator. The single operator may move the handle assembly (e.g., carrythe handle assembly) or cause the handle assembly to be moved about(e.g., control movement of a movable object that may carry thestabilization platform). The single operator may or may not control theorientation of the payload. In some instances, absent instructions fromthe operator, the payload may remain at the same orientation while thehandle assembly is moved about. Alternatively, the payload may alterorientation in response to instructions from a processor. In otherinstances, the operator may provide input that may control theorientation of the payload. For example, the operator may instruct thepayload to change orientation about a yaw, pitch, and/or roll axis withrespect to a fixed reference frame.

In some instances, the stabilization platform may be controlled by twoor more operators. For example, a first operator may move the handleassembly or cause the handle assembly to move about. A second operatormay or may not control orientation of the payload. The second operatormay have a remote control that may communicate with the stabilizationplatform. The remote control may accept inputs from the second operatorand transmit instructions to the stabilization platform that may controlmovement of the payload. For example, the instructions may cause thepayload to rotate about a yaw, roll, and/or pitch axis with respect to afixed reference frame. In other instances, the instructions may controlother functions of the payload. For example, if the payload is a camera,the instructions may permit the camera to be remotely turned on or off,zoom in or zoom out, light balance controls, shutter speed control,shooting mode control, or any other type of control of camera functions.The remote control may transmit the signals wirelessly to thestabilization platform. A processor on-board or in communication withthe stabilization platform may receive the signals from the remotecontrol and may generate a signal that may be transmitted to the motorsof the stabilization platform. The motors may be actuated in response tothe generated signal and may cause the payload to respond to theinstructions from the remote control.

Any type of device may be used as a remote controller to control anyaspect of the stabilization platform. In some instances, the remotecontroller, or another device may be used to set up one or morefunctions of the stabilization platform. In some instances, functionssuch as deadband, maximum speed, smoothing, settings, or channels may bedetermined with aid of an external device. FIG. 17 shows an example of aremote device that may be used to control an aspect or setting of thestabilization platform. In some instances, the remote controller orset-up device may be a mobile device, such as a smartphone, tablet,laptop, personal digital assistant, wearable device (e.g., glasses,wristband, arm band, gloves, torso band, helmet, pendant), or any othertype of mobile device.

While preferred embodiments of the present invention have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the invention. It should be understoodthat various alternatives to the embodiments of the invention describedherein may be employed in practicing the invention. It is intended thatthe following claims define the scope of the invention and that methodsand structures within the scope of these claims and their equivalents becovered thereby.

What is claimed is:
 1. A stabilizing platform configured to stabilize apayload comprising: a frame assembly comprising a plurality of framecomponents movable relative to one another, said frame assemblyconfigured to support the payload; a handle assembly that supports theframe assembly and is configured to be switchable between a firstorientation and a second orientation independently of an orientation ofthe payload; and a plurality of motors configured to permit the framecomponents to move relative to one another, said plurality of motorsincluding (1) a first motor that is configured to (a) control movementof the payload about a yaw axis when the handle assembly is in the firstorientation, and (b) control movement of payload about a roll axis whenthe handle assembly is in the second orientation, and (2) a second motorthat is configured to (a) control movement of the payload about the rollaxis when the handle assembly is in the first orientation, and (b)control movement of the payload about the yaw axis when the handleassembly is in the second orientation.
 2. The stabilizing platform ofclaim 1, wherein the payload is a camera.
 3. The stabilizing platform ofclaim 1, wherein the handle assembly comprises a handle bar connectingtwo grips, and the frame assembly is supported on the handle bar.
 4. Thestabilizing platform of claim 3, wherein the handle bar has (i) asubstantially horizontal orientation when the handle assembly is in thefirst orientation, and (ii) a substantially vertical orientation whenthe handle assembly is in the second orientation.
 5. The stabilizingplatform of claim 3, wherein the handle assembly further comprises athird grip extending from the handle bar between the two grips.
 6. Thestabilizing platform of claim 1, wherein the plurality of motors furthercomprises (3) a third motor that is configured to control movement ofthe payload about a pitch axis when the handle assembly is in the firstorientation and when the handle assembly is in the second orientation.7. The stabilizing platform of claim 1, wherein the frame assemblycomprises at least three frame components that are movable relative toone another.
 8. The stabilizing platform of claim 7, wherein the atleast three frame components comprise a first frame component thatsupports the payload and permits the payload to rotate about a pitchaxis relative to the first frame component.
 9. The stabilizing platformof claim 8, wherein the at least three frame components comprises asecond frame component that supports the first frame component andpermits the first frame component to rotate about (i) a roll axis whenthe handle assembly is in the first orientation, and (ii) a yaw axiswhen the handle assembly is in the second orientation.
 10. Thestabilizing platform of claim 9, wherein the at least three framecomponents comprises a third frame component that supports the secondframe component and permits the second frame component to rotate about(i) a yaw axis when the handle assembly is in the first orientation, and(ii) a roll axis when the handle assembly is in the second orientation.11. A method of stabilizing a payload, said method comprising: providinga frame assembly comprising a plurality of frame components movablerelative to one another, said frame assembly configured to support thepayload; supporting the frame assembly using a handle assembly, whereinsaid handle assembly is configured to be switchable between a firstorientation and a second orientation independently of an orientation ofthe payload; providing a plurality of motors configured to permit theframe components to move relative to one another, said plurality ofmotors including (1) a first motor controlling movement of a payloadabout a first axis when the handle assembly is in the first orientation,and (2) a second motor controlling movement of a payload about a secondaxis when the handle assembly is in the first orientation; detecting aswitches from the first orientation to the second orientation of thehandle assembly; and generating, with aid of one or more processors andin response to the detected switch of the handle assembly from the firstorientation to the second orientation, a control signal that causes (1)the first motor to control movement of the payload about the second axiswhen the handle assembly is in the second orientation, and (2) thesecond motor to control movement of the payload about the first axiswhen the handle assembly is in the second orientation.
 12. The method ofclaim 11, wherein the first axis is a yaw axis and the second axis is aroll axis.
 13. The method of claim 11, wherein the handle assemblycomprises a handle bar connecting two grips, and the frame assembly issupported on the handle bar, and wherein the handle bar has (i) asubstantially horizontal orientation when the handle assembly is in thefirst orientation, and (ii) a substantially vertical orientation whenthe handle assembly is in the second orientation.
 14. The method ofclaim 11, wherein the plurality of motors further comprises (3) a thirdmotor that is configured to control movement of the payload about apitch axis when the handle assembly is in the first orientation and whenthe handle assembly is in the second orientation.
 15. The method ofclaim 11, wherein the frame assembly comprises at least three framecomponents that are movable relative to one another.
 16. The method ofclaim 11, wherein the switch is detected with aid of one or more sensorson the handle assembly, frame assembly, payload, or motors.
 17. Astabilizing platform configured to stabilize a payload comprising: aframe assembly comprising a plurality of frame components movablerelative to on another, said frame assembly configured to support thepayload; a handle assembly that bears weight of the frame assembly andis configured to be switchable between a first orientation and a secondorientation independently of an orientation of the payload; and aplurality of motors configured to permit the frame components to moverelative to one another, said plurality of motors including a motor thatis configured to rotate by a predetermined number of degrees once thehandle assembly begins to change from the first orientation to thesecond orientation, to keep the orientation of the payload independentof the movement of the handle assembly.
 18. The stabilizing platform ofclaim 17, wherein the motor is configured to (a) control movement of thepayload about a yaw axis when the handle assembly is in the firstorientation, and (b) control movement of payload about a roll axis whenthe handle assembly is in the second orientation.
 19. The stabilizingplatform of claim 17, wherein the handle assembly comprises a handle barconnecting two grips, and the frame assembly is supported on the handlebar, wherein the handle bar has (i) a substantially horizontalorientation when the handle assembly is in the first orientation, and(ii) a substantially vertical orientation when the handle assembly is inthe second orientation.
 20. The stabilizing platform of claim 19,wherein a frame component driven by the motor is substantiallyperpendicular to the handle bar when the handle assembly is in the firstorientation, and wherein the frame component driven by the motor issubstantially parallel to the handle bar when the handle assembly is inthe second orientation.
 21. The stabilizing platform of claim 17,wherein the predetermined number of degrees is 90 degrees.
 22. Thestabilizing platform of claim 17, further comprising one or moreprocessors configured to detect when the handle assembly switches fromthe first orientation to the second orientation and generate the signalto effect the rotation of the motor.
 23. The stabilizing platform ofclaim 17, wherein the plurality of motor further comprises a secondmotor that is configured to (a) control movement of the payload aboutthe roll axis when the handle assembly is in the first orientation, and(b) control movement of the payload about the yaw axis when the handleassembly is in the second orientation.
 24. A method of stabilizing apayload, said method comprising: providing the stabilizing platform ofclaim 17; detecting when the handle assembly is switched between thefirst orientation and the second orientation; and rotating the motor bythe predetermined number of degrees.
 25. A stabilizing platformconfigured to stabilize a payload comprising: a frame assemblycomprising a plurality of frame components movable relative to oneanother, said frame assembly configured to support the payload; a handleassembly that bears weight of the frame assembly and is configured to beswitchable between a first orientation and a second orientationindependently of an orientation of the payload; at least one sensor thatprovides data useful for determining whether the handle assembly hasswitched between the first orientation and the second orientation; and aplurality of motors configured to permit the frame components to rotaterelative to one another by a predetermined number of degrees once thehandle assembly begins to switch from the first orientation to thesecond orientation, to keep the orientation of the payload independentof the movement of the handle assembly.
 26. The stabilizing platform ofclaim 25, further comprising one or more processors configured to detectwhen the handle assembly switches between the first orientation and thesecond orientation based on the signal from the at least one sensor. 27.The stabilizing platform of claim 26, wherein the one or more processorsare configured to generate a signal to at least one motor of saidplurality to rotate by a predetermined number of degrees when detectionoccurs that the handle assembly has switched between the firstorientation and the second orientation.
 28. The stabilizing platform ofclaim 26, wherein the handle assembly is determined to have switchedbetween the first orientation and the second orientation when athreshold number of degrees of change in orientation is exceeded.